Using the daily focal image (2020-03-30) with identical
raspberrypi/userland everything works "out of the box":

# uname -a
Linux ubuntu 5.4.0-1006-raspi2 #6-Ubuntu SMP Mon Mar 16 13:08:46 UTC 2020 
aarch64 aarch64 aarch64 GNU/Linux
# /opt/vc/bin/vcgencmd get_camera
supported=1 detected=1
# /opt/vc/bin/raspistill -o test.jpg
# ll /dev/vcsm-cma 
crw-rw-rw- 1 root root 10, 60 Mar 18 19:32 /dev/vcsm-cma

Only changes to image were:
- installing build-essential and cmake
- enabling the camera (adding start_x=1 gpu_mem=128 to 
/boot/firmware/config.txt (Note: It did not work adding these to 
/boot/firmware/usercfg.txt))
- compiling userland

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https://bugs.launchpad.net/bugs/1867428

Title:
  /dev/vcsm-cma missing on Ubuntu 18.04.4 aarch64

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